Feedback control of an underactuated planar bipedal robot with impulsive foot action
Feedback control of an underactuated planar bipedal robot with impulsive foot action
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DOI：
10.1017/s0263574704001250
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发表时间：
2005-08
期刊：
影响因子：
2.7
通讯作者：
J. Choi;J. Grizzle
中科院分区：
文献类型：
--
作者：
J. Choi;J. Grizzle
研究了一种具有脉冲足模型的平面欠驱动双足机器人。分析扩展了以前的工作与未驱动的点脚的Westerpyrutone等人的模型。包括郭致动器模型。在每个腿端的脉冲致动器仅在双支撑阶段期间是活动的，这导致模型与用于单支撑阶段的具有未致动点脚的模型相同。然而，脉冲脚致动的结果在一个不同的模型的双重支持地图。研究了足部驱动机器人混合零动态存在的条件。提出了一种在单、双支撑阶段集成驱动的反馈设计方法。使用庞加莱返回映射进行稳定性分析。在郭的模型中，一个更有效的步态是用一个冲动的脚动作证明。
A planar underactuated bipedal robot with an impulsive foot model is considered. The analysis extends previous work on a model with unactuated point feet of Westervelt et al. to include the actuator model of Kuo. The impulsive actuator at each leg end is active only during the double support phase, which results in the model being identical to the model with unactuated point feet for the single support phase. However, the impulsive foot actuation results in a different model for the double support map. Conditions for the existence of a hybrid zero dynamics for the robot with foot actuation are studied. A feedback design method is proposed that integrates actuation in the single and double support phases. A stability analysis is performed using a Poincaré return map. As in Kuo's model, a more efficient gait is demonstrated with an impulsive foot action.